Formulation of Manipulator Jacobian Using the Velocity Similarity Principle

摘要

A velocity similarity principle is presented and used to derive several usefulforms of the Jacobian matrix for the manipulator from its basic kinematic equations in 4 x 4 matrix form. The zero reference position representation is used and, therefore, the base system is the only coordinate system utilized in the derivations. For manipulators with a spherical wrist, a modified form of the Jacobian is presented in which the Jacobian columns corresponding to the regional structure are completely decoupled from those corresponding to the wrist structure. Keywords: Robotics, Reprints. (kr)